JP5095428B2 - Ｓ−曲線速度輪郭において生じる速度逆転を除去する運動制御システム - Google Patents

Ｓ−曲線速度輪郭において生じる速度逆転を除去する運動制御システム Download PDF

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Publication number
JP5095428B2
JP5095428B2 JP2008016995A JP2008016995A JP5095428B2 JP 5095428 B2 JP5095428 B2 JP 5095428B2 JP 2008016995 A JP2008016995 A JP 2008016995A JP 2008016995 A JP2008016995 A JP 2008016995A JP 5095428 B2 JP5095428 B2 JP 5095428B2
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Japan
Prior art keywords
jerk
limit
acceleration
motion
speed
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JP2008016995A
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Japanese (ja)
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JP2008199883A (ja
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ボフミール スラデック，
ジェイコブ ストリックラー ベイカー，
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Rockwell Automation Technologies Inc
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Rockwell Automation Technologies Inc
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
    • G05B19/416—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by control of velocity, acceleration or deceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/41—Servomotor, servo controller till figures
    • G05B2219/41408—Control of jerk, change of acceleration
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/49—Nc machine tool, till multiple
    • G05B2219/49182—Tapping, overshoot after reversal, elasticity compensation

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  • Engineering & Computer Science (AREA)
  • Human Computer Interaction (AREA)
  • Manufacturing & Machinery (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Stepping Motors (AREA)
JP2008016995A 2007-01-29 2008-01-29 Ｓ−曲線速度輪郭において生じる速度逆転を除去する運動制御システム Expired - Fee Related JP5095428B2 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
US11/668,111 2007-01-29
US11/668,111 US7479751B2 (en) 2007-01-29 2007-01-29 Elimination of unintended velocity reversals in s-curve velocity profiles

Publications (2)

Publication Number Publication Date
JP2008199883A JP2008199883A (ja) 2008-08-28
JP5095428B2 true JP5095428B2 (ja) 2012-12-12

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JP2008016995A Expired - Fee Related JP5095428B2 (ja) 2007-01-29 2008-01-29 Ｓ−曲線速度輪郭において生じる速度逆転を除去する運動制御システム

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Country Link
US (1) US7479751B2 (de)
EP (1) EP1959323B1 (de)
JP (1) JP5095428B2 (de)

Families Citing this family (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US10423248B2 (en) * 2011-10-28 2019-09-24 Wacom Co., Ltd. Touch-sensitive system with motion filtering
JP6133825B2 (ja) * 2014-08-28 2017-05-24 ファナック株式会社 反転時の最適な加速度を算出する数値制御装置
FR3051782B1 (fr) * 2016-05-24 2018-07-06 Fmc Technologies Sa Dispositif de commande de deplacement, procede et dispositif d'acquisition et de calcul pour celui-ci, ainsi que bras articule de chargement de fluide le comportant.
TWI598168B (zh) * 2016-11-03 2017-09-11 財團法人工業技術研究院 攻牙刀具之控制方法
US10469016B1 (en) * 2018-07-02 2019-11-05 Rockwell Automation Technologies, Inc. System and method for improving drive efficiency in an industrial automation system
CN110262406B (zh) * 2019-05-10 2020-06-30 浙江工业大学 一种裁床的拐弯速度优化方法及装置
CN113031508A (zh) * 2019-12-09 2021-06-25 北京精雕科技集团有限公司 一种位置和速度保护相结合的机床软限位实现方法
CN112327954B (zh) * 2020-11-14 2021-11-26 大连理工大学 非对称s型速度曲线控制的直线电机高精定位方法
KR102491234B1 (ko) * 2020-11-30 2023-01-26 한국생산기술연구원 정현파 모션 프로파일 생성장치 및 생성방법
CN113970905B (zh) * 2021-10-26 2023-07-18 广东工业大学 用于高精度运动平台控制的任意阶s型曲线运动规划方法
CN114995118B (zh) * 2022-07-18 2023-08-22 英孚康（浙江）工业技术有限公司 一种抑制过冲和反向的跃度自适应s型速度曲线规划方法

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Publication number Priority date Publication date Assignee Title
US4769583A (en) * 1987-05-01 1988-09-06 General Motors Corporation Motion control system with minimum time path generation
US4761595A (en) * 1987-05-01 1988-08-02 General Motors Corporation Motion control system having adaptive feedforward path tracking
JP2808119B2 (ja) * 1988-07-28 1998-10-08 ファナック株式会社 加減速制御方式
US5144211A (en) * 1989-01-31 1992-09-01 Staubli International Ag Multiaxis robot controller having workpoint torque control
JP2657561B2 (ja) * 1990-02-09 1997-09-24 富士通株式会社 位置決め制御方式
US5331264A (en) * 1993-04-15 1994-07-19 Fanuc Robotics North America, Inc. Method and device for generating an input command for a motion control system
ATE161638T1 (de) * 1995-10-10 1998-01-15 Siemens Ag Taktsynchrone bewegungsführung in zeitdiskreten abtastsystemen
JP3777713B2 (ja) * 1997-04-24 2006-05-24 株式会社明電舎 クレーンの制御装置
JPH115674A (ja) * 1997-06-13 1999-01-12 Nippon Otis Elevator Co エレベータのジャーク補償方法
US6300738B1 (en) * 1999-09-30 2001-10-09 Rockwell Automation Technologies, Inc. Method and apparatus for generating reference values for a motion control loop in an industrial control system
JP4334093B2 (ja) * 1999-12-13 2009-09-16 東洋電機製造株式会社 Ｓ字加減速パターン発生装置
JP3900789B2 (ja) * 2000-04-14 2007-04-04 セイコーエプソン株式会社 モータの速度・加速度決定方法、加減速生成方法、加減速制御方法、加減速制御装置及びモータ制御装置
US7158900B2 (en) * 2002-01-07 2007-01-02 Siemens Energy & Automation, Inc. Pulse output function for programmable logic controller
US6873490B2 (en) * 2002-10-10 2005-03-29 Seagate Technology Llc Control object positioning using jerk, current and time optimized control profiles
JP2004137702A (ja) * 2002-10-16 2004-05-13 Kobelco Contstruction Machinery Ltd 作業機械のアクチュエータ制御装置
TWI261410B (en) * 2004-04-02 2006-09-01 Delta Electronics Inc Velocity or position S-type smooth commands generating method and means thereof
CA2747118C (en) * 2005-03-23 2015-02-10 Hurco Companies, Inc. Method of curvature controlled data smoothing
JP2007086904A (ja) * 2005-09-20 2007-04-05 Brother Ind Ltd 加速度軌跡生成装置

Also Published As

Publication number Publication date
EP1959323B1 (de) 2013-10-23
EP1959323A2 (de) 2008-08-20
US7479751B2 (en) 2009-01-20
JP2008199883A (ja) 2008-08-28
EP1959323A3 (de) 2012-05-02
US20080180045A1 (en) 2008-07-31

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